Description Of The Objects - Festo CiA 402 Manual

3 CANopen access procedure
Identifier Number of data bytes (here 8)
181 Len
h
In this way, almost any desired data telegrams can be defined. The following chapters describe the
settings necessary for this.
3.3.1

Description of the Objects

Object
Identifier of the PDO
(COB_ID_used_by_PDO)
Number of objects to be
transmitted
(number_of_mapped_objects)
24
D0 D1 D2 D3
Start actual position
(D0 ... D3)
Comment
In the object COB_ID_used_by_PDO, the identifier in which the
respective PDO is sent or received is entered. If bit 31 is set, the
respective PDO is deactivated. This is the presetting for all PDOs.
The COB-ID may only be revised if the PDO is deactivated, that is, bit 31
is set. A different identifier than is currently set in the motor controller
may therefore only be written if bit 31 is simultaneously set.
The set bit 30 shows when the identifier is read that the object cannot
be requested by a remote frame. This bit is ignored during writing
and is always set during reading.
This object specifies how many objects should be mapped into the
corresponding PDO. The following limitations must be observed:
A maximum of 4 objects can be mapped per PDO.
A PDO may have a maximum of 8 data bytes.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
D4 D5 D6 D7
Start actual speed
(D4 ... D7)